Switching between sidelink positioning, round-trip time positioning, and single-trip time positioning

Abstract

Systems, methods, and devices for sidelink positioning determination and communication can employ techniques that include acquiring, at a first sidelink-enabled device, data from one or more data sources indicating one or more criteria for using either round-trip-time (RTT)-based positioning of the target node or single-sided (SS)-based positioning of the target node. These techniques also include selecting, using the first sidelink-enabled device, a positioning type from the group consisting of RTT-based positioning and SS-based positioning based on the data. These techniques also include sending a message from the first sidelink-enabled device to a second sidelink-enabled device, where the message includes information indicating the selected positioning type.

Description

Background Art

[0001] SideLink is an adaptation form of cellular standards (e.g., the Long-Term Evolution (LTE) standard and the 5th Generation (5G) New Radio (NR) standard developed and defined by the 3rd Generation Partnership Project (3GPP®)), which enables direct communication between two cellular devices rather than transmitting information through an intervening cellular infrastructure (e.g., a cellular base station). In particular, the SideLink function can be used for vehicle-to-everything (V2X) capable communication. V2X using cellular technology is sometimes called Cellular V2X (CV2X).

[0002] The V2X communication enabled by SideLink can transmit information from vehicles capable of communicating via V2X (or "V2X-capable vehicles") to other V2X-capable vehicles, infrastructure (e.g., roadside units (RSUs)), pedestrians, etc., which can help improve the safety and efficiency of autonomous and semi-autonomous V2X-capable vehicles. For example, route and operation plans for V2X-capable vehicles rely on knowing accurate distances and relative locations. The capabilities and behaviors of surrounding vehicles help, for example, determine safe vehicle-to-vehicle distances and lane change operations. Location and location-related measurements are regularly communicated between V2X-capable vehicles, for example, through Intelligent Transport System (ITS) messages.

Summary of the Invention

Means for Solving the Problems

[0003] The techniques described herein enable the identification of "switching" criteria for consideration when a source node and / or a target node decides whether to switch between round-trip time (RTT)-based positioning and single-sided (SS) - based positioning. Further, this determination can be made by the source node using an existing message format such as ITS. In some embodiments, this indication may be included in a pre-PRS message.

[0004] An exemplary method of sidelink positioning determination and communication according to the present disclosure includes, in a first sidelink-capable device, obtaining data from one or more data sources indicative of one or more criteria for using either round-trip time (RTT)-based positioning of a target node or single-sided (SS)-based positioning of the target node. The method also includes, using the first sidelink-capable device, selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data. The method also includes sending a message from the first sidelink-capable device to a second sidelink-capable device, where the message includes information indicating the selected positioning type.

[0005] An exemplary first side-link corresponding device for sidelink positioning and communication according to the present disclosure includes a transceiver, a memory, and one or more processing units communicatively coupled to the transceiver and the memory. The one or more processing units are configured to obtain data from one or more data sources indicative of one or more criteria for using either round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of the target node. The one or more processing units are also configured to select a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data. The one or more processing units are also configured to send, via the transceiver, a message to a second side-link corresponding device, wherein the message includes information indicating the selected positioning type.

[0006] An exemplary device for sidelink positioning and communication according to the present disclosure includes means for obtaining data from one or more data sources indicative of one or more criteria for using either round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of the target node. The device also includes means for selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data. The device also includes means for sending a message from a first side-link corresponding device to a second side-link corresponding device, wherein the message includes information indicating the selected positioning type.

[0007] An exemplary non-transitory computer-readable medium according to the present disclosure stores instructions for sidelink positioning and communication. The instructions comprise code for obtaining data from one or more data sources that indicate one or more criteria for using either round-trip time (RTT)-based positioning of a target node or single-sided (SS)-based positioning of the target node. The instructions also comprise code for selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data. The instructions also comprise code for sending a message from a first sidelink-capable device to a second sidelink-capable device, where the message includes information indicating the selected positioning type.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

[0009] According to some exemplary implementations, like reference numerals in the various drawings indicate like elements. Additionally, multiple instances of an element may be indicated by following a first digit for the element with a letter or a hyphen and a second digit. For example, multiple instances of element 110 may be indicated as 110-1, 110-2, 110-3, etc. or as 110a, 110b, 110c, etc. When referring to such an element using only the first digit, any instance of that element is to be understood (e.g., element 110 in the previous example would refer to elements 110-1, 110-2, and 110-3 or elements 110a, 110b, and 110c).

[0010] Next, some exemplary embodiments will be described with respect to the accompanying drawings that form a part of this specification. Specific embodiments in which one or more aspects of the present disclosure may be implemented are described below, but other embodiments may be used and various modifications may be made without departing from the scope of the present disclosure or the spirit of the appended claims.

[0011] The embodiments described herein explain the use of sidelink positioning for vehicle-related communications such as V2X. However, it will be understood that the embodiments are not so limited. The embodiments may utilize the techniques herein for sidelink positioning between two non-vehicle devices, such as two mobile phones, a mobile phone and an RSU, for example.

[0012] Figure 1 is a perspective view of a traffic scenario in which sidelink communication can enable V2X communication between various V2X-enabled entities. Here, road 100 is shared by vehicles 110-1 and 110-2 (collectively and generically referred to as vehicle 110), as well as pedestrian 120 (or Vulnerable Road User (VRU)). Additionally, RSU 130 (in this case, a street lamp equipped with a V2X-enabled transceiver) is located near road 100.

[0013] Modern vehicles 110 often have a high-precision positioning system based on sensors such as an inertial measurement unit (IMU), a global navigation satellite system (GNSS) receiver, and a wireless transceiver. In particular, these sensors can enable vehicle 110 to accurately determine its position in a preferred global frame of reference. Further, vehicle 110 may further include a number of perception sensors (e.g., cameras, LIDAR, radar, etc.). These additional sensors can also be used with map information to determine the location of vehicle 110 (e.g., by comparing the position of an observed object to its position on a map), and / or these additional sensors can be used for situation awareness purposes to identify other vehicles 110, objects, VRUs, etc.

[0014] As an example, the first vehicle 110-1 may be equipped with autonomous driving or semi-autonomous driving capabilities. To ensure that the first vehicle 110-1 stays within its lane on the road 100, the first vehicle 110-1 may utilize information from one or more positioning systems (e.g., based on GNSS, IMU, and / or wireless transceiver positioning). Additionally, the first vehicle 110-1 may use additional information from in-vehicle sensors (such as cameras, LIDAR, radar, etc.) and V2X communications received from other V2X-enabled entities (e.g., CV2X and potentially other forms of V2X communications) to determine the locations of the second vehicle 110-2, pedestrians 120, etc. relative to the first vehicle 110-1. This additional information can ensure that the first vehicle 110-1 can safely navigate the road 100 in view of the current traffic conditions.

[0015] Positioning using V2X (sidelink) communication can be a form of positioning using a wireless transceiver that is used by the vehicle 110 and / or other devices to determine their location. That is, distance determination between two V2X-enabled devices can be performed using V2X communication to perform RTT and / or SS measurements. Referring again to FIG. 1, these types of measurements can be made, for example, to measure the distance 140-1 between the first vehicle 110-1 and the pedestrian 120 (where the pedestrian is carrying a V2X-enabled device such as a mobile phone), and / or the distance 140-2 between the second vehicle 110-2 and the RSU 130. Ultimately, distance determination can be performed between any two V2X-enabled devices, and this information can be used together with other information (such as map information, GNSS information, other distance determinations, etc.) to help estimate the exact location of one or both of those V2X-enabled devices.

[0016] Figures 2 and 3 are timing diagrams of messages exchanged between RTT-based positioning 200-A and SS-based positioning 200-B, respectively. (For simplicity, these terms are also simply referred to as "RTT positioning" and "SS positioning" respectively in this specification.) Here, the "source node" is called a V2X-enabled device that initiates RTT-based or SS-based positioning, and typically is a node with a known location. Additionally, the "target node" is typically a V2X-enabled device with an unknown location. Referring back to FIG. 1, the distance determination for distance 140-2 can be made to determine the location of the second vehicle 110-2 based on the known location of the RSU 130. Thus, the RSU 130 can be a source node, and the vehicle 110-2 can be a target node.

[0017] On the other hand, the distance determination for distance 140-1 can be made to determine the location of the pedestrian 120 based on the known location of the first vehicle 110-1. In this case, the first vehicle 110-1 can be a source node, and the pedestrian 120 (or more specifically, the V2X-enabled mobile device carried by the pedestrian 120) can be a target node.

[0018] Returning to FIG. 2 again, the RTT-based positioning 200-A generally proceeds in three stages defined with respect to the transmission of a position reference signal (PRS) by the source node. The first stage of the RTT-based positioning 200-A includes sending a "pre-PRS" message in preparation for subsequent transmission of the PRS signal. The first pre-PRS message 210 is sent from the source node and received by the target node. Thereby, information about the PRS message (e.g., PRS ID, resource ID, etc.) can be transmitted from the source node to the target node. The second pre-PRS message 220 sent from the target node to the source node can include an acknowledgment response for the reception of the pre-PRS message 210 by the target node. The pre-PRS messages 210 and 220 can be sent via the radio frequency (RF) spectrum authorized for ITS communication.

[0019] The second stage of the RTT-based positioning 200-A involves sending a PRS signal, which is used as a timing signal to determine the time-of-flight (between transmission and reception) and ultimately the distance between the source node and the target node. Specifically, the source node sends a message with a source PRS 230 at time t1, and the message is received by the target node at time t2. The target node then responds by sending a message with a target PRS 240 at time t3, and then the message is received by the source node at time t4. The RTT can then be calculated from the difference between t4 and t1 minus the difference between t3 and t2. From the RTT, the time-of-flight (TOF) can then be calculated (RTT / 2), as well as the distance (TOF*C). The PRS 230 and 240 can be sent via an authorized or unauthorized RF spectrum.

[0020] The third stage of the RTT-based positioning 200-A involves the source node sending a "post-PRS" message 250 to the target node. The post-PRS message 250 may comprise measurement information derived from the PRS signals 230 and 240 for use by the target node. That is, using the post-PRS message 250, the source node can provide the target node with information that the target node can use to determine its distance from the source node (e.g., by calculating the RTT and / or TOF), and / or other information for positioning (e.g., the location of the target node). This information can then be used, for example, by a Kalman filter in the positioning engine of the target node for clock calibration and ultimately to accurately estimate the position of the target node. Similar to the signals in the first stage of the RTT-based positioning 200-A, the post-PRS message 250 can be communicated using the RF spectrum authorized for ITS communication. In some embodiments, the post-PRS message can be sent from the target node to the source node (e.g., in the case where the source node calculates the RTT).

[0021] Regarding the SS-based positioning 200-B of FIG. 3, the process involves a much simpler two-stage exchange of messages between the source node and the target node. Here, the first stage comprises a pre-PRS message 310 from the source node to the target node. Similar to the pre-PRS message 210 of the RTT-based positioning 200-A, this pre-PRS message 310 may comprise information regarding the timing and content of the source PRS 320, where the source PRS 320 is sent by the second node in the second stage. However, in the SS-based positioning 200-B, an acknowledgment response from the target node may not be sent.

[0022] It can be noted that there may be a modified form of the SS-based positioning 200-B shown in FIG. 3. For example, the first stage may not necessarily come before the second stage. That is, the source node may send the source PRS 320 before sending a message with the information (e.g., timing, content) provided in the pre-PRS message 310. Additionally or alternatively, the pre-PRS message 310 (or an equivalent) may be sent via the RF spectrum authorized for ITS communication, and / or the source PRS 320 may be sent via an unlicensed spectrum. Other alternative embodiments may include other modified forms.

[0023] Since the SS-based positioning 200-B transmits less information, the estimated position of the target node using the SS-based positioning 200-B may not be as accurate as the estimated position using the RTT-based positioning 200-A. Specifically, the Kalman filter of the positioning engine of the target node has to estimate more variables (e.g., location, clock bias, and clock drift) in the case of the SS-based positioning 200-B, and thus may be more likely to produce a larger positioning error. Nevertheless, due to its lower overhead, the use of the SS-based positioning 200-B may be desirable for lower power consumption at the target node and / or may have an advantage over the RTT-based positioning 200-A when there is insufficient available bandwidth for the RTT-based positioning 200-A. (Additionally or alternatively, since the SS-based positioning 200-B has a lower signaling overhead, it may be possible to enable additional PRS signaling and / or more frequent positioning of the target node using the same amount of bandwidth that would be required in the case of the RTT-based positioning.)

[0024] The embodiments provided in this specification enable addressing these and other problems by identifying a "switching" criterion for consideration when a source node and / or a target node decides whether to switch from SS-based positioning to RTT-based positioning or vice versa. Further, this determination can be made by the source node using an existing ITS message format. In some embodiments, this indication may be included in a pre-PRS message (e.g., 210 and 310 in FIGS. 2 and 3 respectively). Additional details are provided below with respect to the accompanying figures.

[0025] FIG. 4 is a flowchart of a method 400 for obtaining positioning measurement values of a target node according to an embodiment. Each of the functions shown in each of the blocks shown in FIG. 4 can be executed by a source node. As described above, the source node may comprise a V2X-compatible or other sidelink-compatible device capable of communicating directly with the target node (via sidelink communication). The means for performing these methods may include one or more hardware and / or software components of a sidelink-compatible device, such as those shown in FIG. 9 described below.

[0026] It may be noted that the method shown in FIG. 4, and the method shown in FIG. 5 described below, also use SS positioning by default and switch to RTT positioning when one or more "switching" conditions are met. (This is because, as shown previously, SS positioning can provide advantages in power savings and bandwidth usage when possible.) That being said, alternative embodiments may use alternative approaches, such as using RTT positioning by default and switching to evaluate positioning when switching conditions are met, evaluating different parameters to determine whether to use RTT positioning or SS positioning, etc. Those skilled in the art will recognize that such variations can be made to the methods shown in FIGS. 4 and 5.

[0027] The function in block 410 includes obtaining switching criterion information. As described, the switching criterion may comprise data indicating conditions where it may be preferable to use RTT positioning. Thus, obtaining switching criterion information may include obtaining data from various data sources to determine whether one or more switching conditions are met. These data sources may comprise one or more sensors of the source node and / or other devices communicatively coupled to the source node. The target node may comprise, for example, a data source for the switching criterion.

[0028] One such switching criterion may include determining whether there is a lack of sufficient angular change between the source node and the target node. That is, multiple distance determinations between the source node and the target node over time may create an angle between the alignment of the source node and the target node at a previous time and the alignment of the source node and the target node at a subsequent time. This can provide additional data points to the Kalman filter of the target node, along with which the current position of the target node can be determined. As mentioned above, RTT positioning results in fewer estimates by the Kalman filter than SS positioning. And, thus, in the absence of this additional data point regarding angular change, the accuracy of the positioning based on SS positioning may degrade compared to the accuracy of the positioning based on RTT positioning. Thus, according to some embodiments, the function in block 410 for obtaining switching criterion information may include obtaining information regarding whether the relative position over time between the source node and the target node fails to exhibit a threshold amount of angular change. This may be determined, for example, based on position information regarding the target node and the source node. In some embodiments, the source node may receive position information regarding the target node directly from the target node.

[0029] Another switching criterion may include a determination as to whether the speed sensor of the source node or the target node is inaccurate. In embodiments where the source node and / or the target node comprises a mobile device (e.g., vehicle 110 or pedestrian 120), a malfunctioning speed sensor may thereby reduce the amount of data points by which a Kalman filter can reliably determine a position estimate for each source node or target node. Also in this case, when using fewer data points to determine the position estimate, the Kalman filter may be able to provide a more accurate position estimate using the RTT positioning data. Thus, according to some embodiments, the functionality in block 410 for obtaining switching criterion information may include obtaining information as to whether the speed sensor of the source node and / or the target node is determined to have a difference greater than a threshold.

[0030] A similar switching criterion may include a determination as to whether the source node or the target node is stationary. In such a case, the obtained position determination of the target node may have a higher accuracy when using RTT positioning than when using SS positioning. Thus, according to some embodiments, the functionality in block 410 for obtaining switching criterion information may include obtaining information as to whether the source node or the target node has moved by a threshold amount within a threshold amount of time. Additionally or alternatively, the functionality in block 410 for obtaining switching criterion information may include obtaining information as to whether the relative distance between the source node and the target node has not changed by a threshold amount within a threshold amount of time.

[0031] Another switching criterion may involve determining whether the local oscillator of the source node or the target node has been recently synchronized or initialized. In this context, synchronization or initialization of the local oscillator can result in a time period during which positioning that depends on the local oscillator may be less accurate compared to the grand - true - time or Coordinated Universal Time. For example, it may be more difficult to estimate the local clock bias and clock drift in order to accurately determine the times t1 and t2 (Figure 3) for SS positioning because each is based on a separate local oscillator. That is, the oscillator time value T can be expressed as a function of time, T = t + a+bt, where a is the bias coefficient and b is the drift coefficient. These coefficients are device - specific, and a can be changed at any time when the clock is synchronized or initialized. However, RTT - based positioning may be subject to less inaccuracy because the times t1 and t4 are both determined on the local oscillator of the source node and the times t2 and t3 are both determined on the local oscillator of the target node. Their relative time differences (i.e., t4 - t1 and t3 - t2) are used to determine the TOF and there is no problem of inaccuracy that can occur when the relative frequency and / or phase offset between the respective local oscillators of the source node or the target node has not been determined for the recent synchronization or initialization of one or both of those local oscillators. Thus, according to some embodiments, the function in block 410 that obtains the switching criterion information may include obtaining information regarding whether the respective local oscillators of the source node or the target node have been synchronized or initialized within a threshold amount of time before RTT positioning or SS positioning is to be performed.

[0032] In block 420, the functionality includes determining whether one or more switching conditions are met. Although the switching criteria were given above, the switching conditions can still vary depending on the desired functionality. For example, for each of these switching criteria, the respective thresholds can be set or changed to provide a certain functionality for the source node and / or the target node. These values can be selected, for example, to provide a desired balance of bandwidth usage, power savings, and / or location accuracy. In some embodiments, these values can be selected to optimize one benefit (e.g., location accuracy) at the expense of other benefits (e.g., power savings and bandwidth usage). In some embodiments, these values can be changed from one mode (e.g., location accuracy optimization) to another mode (e.g., balance of benefits) depending on environmental factors or other factors related to the source node and / or the target node. In some embodiments, the communication sent to the source node and / or the target node can cause this change from one mode to another. In addition to, or as an alternative to, modifying the thresholds, some embodiments can evaluate different switching criteria information differently so as to emphasize, and / or not emphasize, different criteria. Again, this can depend on a particular operating mode or desired functionality.

[0033] With this in mind, the functionality shown in block 420 that determines whether one or more switching conditions are met may include determining whether any respective threshold of the switching criteria has been exceeded. In some embodiments and / or functional modes, this may be sufficient to determine that the switching condition has been met. In some embodiments and / or functional modes, determining whether the switching condition is met may include combining information from multiple switching criteria, taking everything into account, to determine whether the switching condition has been met. For example, in block 420, even though no single threshold has been exceeded for a given switching criterion, if the values for multiple criteria are approaching their respective thresholds, a different determination may be made that the switching condition is met. Further, as described, some values may be given a greater weight than other values, depending on the desired functionality.

[0034] In block 420, if the switching condition is not met, method 400 can then proceed to block 430, where a message indicating that SS positioning should be performed is sent by the source node to the target node. As described above, this may comprise a first stage pre-PRS message 310 (FIG. 3) of SS-based positioning, which may comprise an ITS message. Method 400 can then proceed to block 440, where the functionality includes sending a PRS in accordance with the SS positioning (e.g., performing the second stage of the SS-based positioning shown in FIG. 3).

[0035] Alternatively, in block 420, if the switching condition is met, method 400 can then proceed to block 450, where a message indicating that RTT positioning should be performed is sent from the source node to the target node. This can include a pre-PRS message 210 (FIG. 2) of the first stage of RTT-based positioning, which can also include an ITS message. Method 400 can then proceed to block 460, where the function includes sending a PRS according to the RTT positioning (e.g., performing the second and third stages of the RTT-based positioning shown in FIG. 2).

[0036] According to some embodiments, when a message indicates that RTT positioning should be used (as indicated by the function of block 450), or that SS positioning should be used (as indicated by the function of block 430), the message can be sent using an existing format for including the message. These formats can include, for example, Media Access Control - Control Element (MAC-CE) or second stage control. Additionally or alternatively, one or more additional bits in an existing message format (e.g., an ITS message) can be used to indicate whether SS positioning or RTT positioning should be used. An example of a 2-bit indication in a message sent from the source node to the target node is shown in Table 1 (Table 1).

[0037]

Table 1

[0038] The embodiments described above provide that the source node sends an indication of whether to use RTT positioning or SS positioning, but the embodiments are not so limited. As described above, the function in block 410 of obtaining switching criterion information, which is executed at the source node, may involve receiving information from the target node. Thus, in some embodiments, the target node may execute a method similar to method 400 of FIG. 4 to determine whether to use RTT positioning or SS positioning and provide an indication to the source node. Moreover, this function may be coupled to the function of FIG. 4 such that both the target node and the source node may determine whether one or more switching conditions are met. An example of this is shown in FIG. 5.

[0039] FIG. 5 is a flowchart of a method 500 for obtaining positioning measurement values of a target node according to another embodiment. Here, each of the functions shown in the blocks shown in FIG. 5 may be executed by either the target node or the source node as shown. Also in this case, the source node and / or the target node may comprise a V2X-compatible or other sidelink-compatible device capable of communicating directly with the target node (via sidelink communication). Thus, the means for performing these methods may include one or more hardware and / or software components of a sidelink-compatible device, such as those shown in FIG. 9 described below.

[0040] The functions in blocks 505 and 510 may be quite similar to the functions of blocks 410 and 420 in FIG. 4, respectively. Thus, the functions and considerations for obtaining the switching reference information and determining whether one or more switching conditions are met may be the same as those previously described with respect to blocks 410 and 420. (That said, since the source node can perform similar functions (as will be described below with respect to the functions in blocks 530 and 535), in some embodiments, the target node may not receive information from the source node when obtaining the switching reference information. That said, in alternative embodiments, the target node may receive information from the source node.)

[0041] If the switching condition is met, method 500 can proceed to the function shown in block 515, which includes sending a message with an RTT positioning instruction from the target node to the source node. In some embodiments, this message may comprise an ITS message. In this case, the source node can then perform RTT positioning in a manner similar to that shown in FIG. 2 by sending a pre-PRS message, a PRS message, and a post-PRS message to the target node (as shown by block 520, and as shown in FIG. 2, the target node can also send a response message, which is omitted in FIG. 5).

[0042] In block 510, if the switching condition is not satisfied, the target node may perform any of the functions shown in block 525, which involves sending a message with an indication of SS positioning to the source node. (In this case too, in an embodiment, this message may comprise an ITS message.) That is, in some embodiments and / or under some conditions, the target node may send a message indicating that the switching condition was not satisfied. However, in other embodiments and / or conditions, the source node may proceed to perform the functions shown in block 530 without receiving a message from the target node in block 525.

[0043] The functions of blocks 530 to 555 executed by the source node can directly repeat the corresponding functions shown in FIG. 4 described above. Therefore, method 500 shows an embodiment in which both the target node and the source node can determine whether the switching condition is satisfied. Finally, if either node determines that the switching condition is satisfied, RTT positioning is performed. Otherwise, SS positioning is performed.

[0044] As previously shown, the embodiments described herein may have specific application examples to V2X communication, but the embodiments are not so limited. That is, the embodiments can extend to the positioning of other types of sidelink-enabled devices. An example of one embodiment applicable to all sidelink-enabled devices is provided in FIG. 6. It may be noted that the functions of FIG. 6 may include some or all of the functions described with respect to FIG. 4 and / or FIG. 5.

[0045] FIG. 6 is a flowchart of a sidelink positioning and communication method 600 according to one embodiment. One or more of the functions of method 600 may be performed by a sidelink-capable device (e.g., a target node and / or a source node). Moreover, as described above, the functions of a sidelink-capable device (e.g., a V2X-capable device) may be implemented by hardware and / or software components such as those shown in FIG. 9 and described below. Thus, in some embodiments, means for performing one or more of the functions shown in the blocks of FIG. 6 may comprise one or more of the hardware and / or software components shown in FIG. 9. Further, alternative embodiments may modify the functions shown in the blocks of FIG. 6 by separating or combining blocks in order to perform the functions in a different order, simultaneously, etc. Those skilled in the art will readily recognize such variations in light of the description herein.

[0046] The functionality of block 610 includes obtaining data from one or more data sources for use in either RTT-based positioning of a target node or SS-based positioning of a target node in a first sidelink-capable device. As described, the one or more criteria can include whether the relative position over time between the first sidelink-capable device and the second sidelink-capable device fails to exhibit a threshold amount of angular change, whether the respective speed sensors of the first sidelink-capable device, the second sidelink-capable device, or both are determined to have a difference greater than a threshold, whether the first sidelink-capable device, the second sidelink-capable device, or both have moved a first threshold distance within a threshold amount of time, whether the relative distance between the first sidelink-capable device and the second sidelink-capable device has not changed by a second threshold distance within a threshold amount of time, or whether the respective local oscillators of the first sidelink-capable device, the second sidelink-capable device, or both are synchronized or initialized within a threshold amount of time prior to the positioning of the selected positioning type taking place, or any combination thereof. The determination of any of these criteria can be made by the first sidelink-capable device and / or by a data source (e.g., another device, sensor, etc.) among the one or more data sources from which data is obtained. In some embodiments and / or scenarios, the first sidelink-capable device can comprise a target node, and (as described in more detail below with respect to the functionality of block 630) the second sidelink-capable device can comprise a source node. Alternatively, the first sidelink-capable device can comprise a source node and the second sidelink-capable device can comprise a target node. If the first sidelink-capable device comprises a source node and the second sidelink-capable device comprises a target node, one of the data sources from which data regarding one or more criteria is obtained can comprise the second sidelink-capable device.

[0047] The means for performing the functions in block 610 may include one or more software and / or hardware components of the vehicle, such as the bus 901, the processor 910, the memory 960, the wireless transceiver 930, the GNSS receiver 970, and / or other software and / or hardware components, as shown in the sidelink-enabled device 900 as shown in FIG. 9, which will be described in more detail below.

[0048] The functions in block 620 include selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on data using a first sidelink-enabled device. As described, this may include taking into account the criteria for using either RTT-based positioning or SS-based positioning. In some cases, for example, a single criterion may be sufficient to select RTT-based positioning (or SS-based positioning). In other cases, a balance of multiple criteria / multiple criteria may be evaluated to determine the selection.

[0049] The means for performing the functions in block 620 may include one or more software and / or hardware components of the vehicle, such as the bus 901, the processor 910, the memory 960, and / or other software and / or hardware components, as shown in the sidelink-enabled device 900 as shown in FIG. 9, which will be described in more detail below.

[0050] The function of block 630 is to send a message from a first sidelink-capable device to a second sidelink-capable device, where the message includes information indicating a selected positioning type. As described, this indication may include using one or more bits to indicate the selected positioning type. In some embodiments, for example, the information indicating the selected positioning type included in the message consists of 2 bits within the message (as shown, for example, in Table 1). Additionally or alternatively, the message may be sent using a MAC-CE or a second-stage control format. According to some embodiments, the message may comprise an ITS message.

[0051] The means for performing the function in block 630 may include one or more software and / or hardware components of a vehicle, such as a bus 901, a processor 910, a memory 960, a wireless transceiver 930, a GNSS receiver 970, and / or other software and / or hardware components of a sidelink-capable device 900 as shown in FIG. 9, which will be described in more detail below.

[0052] As shown in the above embodiments, alternative embodiments may include additional functions. For example, if the first sidelink-capable device comprises a source node and the second sidelink-capable device comprises a target node, an embodiment of method 600 may further include sending a PRS from the first sidelink-capable device according to the selected positioning type. Additionally or alternatively, obtaining data from one or more data sources may include obtaining information from the target node. Moreover, in some embodiments, the information from the target node may comprise an indication of a positioning type selection from the target node. In such cases, selecting the positioning type (e.g., the function in block 620) may be further based on the positioning type selection from the target node as shown in method 500 shown in FIG. 5.

[0053] Figures 7-10 are diagrams of systems, structural devices, vehicle components, and other devices, components, and systems that can be used to implement the techniques provided herein for sidelink positioning when it relates to V2X (although, as stated, the embodiments are not necessarily limited to V2X use cases). In the following description, references to V2X systems and devices may include systems and devices that employ sidelink communication. Thus, in the following description, vehicles, mobile devices, and RSUs may each be equipped with sidelink-capable (or more specifically, V2X-capable / CV2X-capable) devices.

[0054] Figure 7 is a diagram of a system according to one embodiment in which a vehicle can communicate with various devices, vehicles, and servers over various networks. In one embodiment, V2X vehicle A780 uses a V2X or other wireless communication transceiver on link 723 to communicate with V2X or other communication transceiver-capable vehicle B790 to perform, for example, relative positioning between vehicles, negotiation for lane changes, or passage through intersections in one embodiment, and exchange V2X data elements such as GNSS measurements, vehicle status, vehicle location and vehicle capabilities, measurement data, and / or calculated status, and exchange other V2X vehicle status steps that may not be covered in the V2X capability data elements. In one embodiment, vehicle A780 can also communicate with vehicle B790 through the network, for example, via wireless signals 722 / 724 with base station 720 and / or via wireless signal 732 with access point 730, or via one or more communication-capable RSUs 725, any of which can relay communication, information, and / or convert protocols for use by other vehicles such as vehicle B790, particularly in an embodiment where vehicle B790 cannot directly communicate with vehicle A780 in a common protocol. In one embodiment, an RSU can comprise various types of roadside beacons, traffic and / or vehicle monitors, traffic control devices, and location beacons.

[0055] In one embodiment, the RSU 725 may include a processor 725A configured to operate a wireless transceiver 725E to send and receive wireless messages, such as basic safety messages (BSMs), or cooperative awareness messages (CAMs), or other V2X messages, between the base station 720 and / or access point 730 and the vehicle A 780 and / or vehicle B 790. For example, the wireless transceiver 725E may send and / or receive wireless messages in various protocols, such as V2X communication with vehicles (e.g., using sidelink communication), and / or using various wide area network (WAN), wireless local area network (WLAN), and / or personal area network (PAN) protocols to communicate over a wireless communication network. In one embodiment, the RSU 725 may include one or more processors 725A communicatively coupled to the wireless transceiver 725E and a memory, and may include instructions and / or hardware to execute as a traffic control unit 725C and / or to provide and / or process environmental and roadside sensor information 725D, or to serve as a location reference for GNSS relative location between it and the vehicle. In one embodiment, the RSU 725 may include a network interface 725B (and / or wireless transceiver 725E), and the network interface 725B (and / or wireless transceiver 725E) may communicate with external servers, such as a traffic optimization server 765, a vehicle information server 755, and / or an environmental data server 740, in one embodiment. In one embodiment, the wireless transceiver 725E may communicate over a wireless communication network by transmitting or receiving wireless signals from a wireless base transceiver subsystem (BTS), Node B, or evolved Node B (eNodeB), or next generation Node B (gNodeB) over a wireless communication link. In one embodiment, the wireless transceiver 725E may comprise various combinations of a WAN transceiver, a WLAN transceiver, and / or a PAN transceiver.In one embodiment, the local transceiver may also be a Bluetooth® transceiver, a ZigBee transceiver, or other PAN transceiver. The local transceiver, WAN wireless transceiver, and / or mobile wireless transceiver may include a WAN transceiver, access point (AP), femtocell, home base station, small cell base station, home node B (HNB), home eNode B (HeNB), or next generation node B (gNode B), and may provide access to a WLAN (e.g., IEEE 802.11 network), wireless personal area network (PAN, e.g., Bluetooth network), or cellular network (e.g., LTE network, or other wireless wide area network such as those described in the next paragraph). These are merely examples of networks that may communicate with RSU 725 over a wireless link, and it should be understood that the claimed subject matter is not limited in this respect.

[0056] RSU 725 may receive location, status, GNSS and other sensor measurements, and capability information from vehicle A 780 and / or vehicle B 790, such as GNSS measurements, sensor measurements, speed, heading, location, stopping distance, priority or emergency status, and / or other vehicle-related information. In one embodiment, environmental information such as road surface information / status, weather status, and camera information may be collected and shared with vehicles via either point-to-point or broadcast messaging. RSU 725 may utilize the information received from vehicle A 780 and / or vehicle B 790 via wireless transceiver 725E, environmental and roadside sensors 725D, and network information and control messages from, for example, traffic control and optimization server 765, to adjust and direct traffic flow and provide environmental, vehicle, safety, and advisory messages to vehicle A 780 and vehicle B 790.

[0057] Processor 725A may be configured to operate network interface 725B. In one embodiment, network interface 725B may be connected to network 770 via a backhaul and may be used to communicate and cooperate with various centralized servers, such as centralized traffic control and optimization server 765, which monitors and optimizes traffic flow in an area, such as within a city or a section of a city, or in a region. Network interface 725B may also be utilized for remote access to RSU 725 for cloud sourcing of vehicle data, maintenance of RSU 725, and / or cooperation with other RSU 725 or other users. RSU 725 may have a processor 725A configured to operate traffic control unit 725C, which may be configured to process data received from vehicles such as vehicle A 780 and vehicle B 790, including location data, stopping distance data, road condition data, identification data, and other information regarding the status and location of nearby vehicles and the environment. RSU 725 may have a processor 725A configured to obtain data from environmental and roadside sensors 725D, which may include temperature, weather, cameras, pressure sensors, road sensors (e.g., for vehicle detection), accident detection, movement detection, speed detection, and other vehicle and environmental monitoring sensors.

[0058] In one embodiment, vehicle A780 can also communicate with mobile device 700 using short - range communication and personal networks such as Bluetooth, Wi - Fi, or Zigbee, or via V2X (e.g., CV2X / sidelink communication), or other vehicle - related communication protocols, for example, in one embodiment, to access a WAN and / or Wi - Fi network, and / or, in one embodiment, to obtain sensors and / or location measurements from mobile device 700. In one embodiment, vehicle A780 can communicate with mobile device 700 using Wi - Fi either through a WAN network using a WAN - related protocol such as via a WAN base station 720, or directly peer - to - peer, or via a Wi - Fi access point. Vehicle A780 and / or vehicle B790 can communicate using various communication protocols. In one embodiment, vehicle A780 and / or vehicle B790 can support various multiple modes of wireless communication, such as using, for example, V2X, Global System for Mobile Communications (GSM) for mobile communication, Wideband Code Division Multiple Access (WCDMA (registered trademark)), Code Division Multiple Access (CDMA), High - Rate Packet Data (HRPD), Wi - Fi, Bluetooth, WiMAX, LTE, 5G New Radio (NR) communication protocols, etc.

[0059] In one embodiment, vehicle A can communicate with wireless LAN access point 730 via a base station 720, using a WAN protocol over a WAN network, or using a wireless LAN protocol such as Wi - Fi. The vehicle can also support wireless communication using, for example, WLAN, PAN (such as Bluetooth or ZigBee), Digital Subscriber Line (DSL), or packet cable.

[0060] Vehicle A780 and / or vehicle B790 may include one or more GNSS receivers, such as GNSS receiver 970 for receiving GNSS signals 712 from GNSS satellites 710, for location determination, time acquisition, and time maintenance, in one embodiment. Various GNSS systems may be supported alone or in combination using GNSS receiver 970 or other receivers to receive signals from Beidou, Galileo, Global Navigation Satellite System (GLONASS), and / or Global Positioning System (GPS), as well as various regional navigation systems such as Quasi-Zenith Satellite System (QZSS) and NavIC or Indian Regional Navigation Satellite System (IRNSS). In one example, other wireless systems may be utilized, such as those relying on beacons, such as one or more RSUs 725, one or more wireless LAN access points 730, or one or more base stations 720. Various GNSS signals 712 may be utilized with vehicle sensors to determine location, speed, and proximity to other vehicles, such as between vehicle A780 and vehicle B790.

[0061] In one embodiment, vehicle A and / or vehicle B may access GNSS measurements and / or locations determined using at least partially GNSS provided by mobile device 700, and mobile device 700 may also be configured to have GNSS, WAN, Wi-Fi, as well as other communication receivers and / or transceivers, in one embodiment. In one embodiment, vehicle A780 and / or vehicle B790 may access GNSS measurements (such as pseudorange measurements, Doppler measurements, and satellite IDs, etc.) and / or locations determined using at least partially GNSS provided by mobile device 700 as a fallback when GNSS receiver 970 fails or provides location accuracy below a threshold level.

[0062] Vehicle A780 and / or vehicle B790 can access various servers on the network, such as vehicle information server 755, route server 745, location server 760, map server 750, and environmental data server 740.

[0063] The vehicle information server 755 can provide information representing various vehicles, such as antenna location, vehicle size, and vehicle capabilities, which can be used when making judgments regarding operations of nearby vehicles, such as whether a nearby vehicle can stop or accelerate in a timely manner, whether a nearby vehicle is operating in autonomous driving mode, whether it is compatible with autonomous driving operations, and whether it is communication-compatible. In one embodiment, the vehicle information server 755 can also provide information regarding vehicle size, shape, capabilities, identification information, ownership, occupancy, and / or determined location points (e.g., the location of a GNSS receiver, etc.), as well as the location of the vehicle boundary with respect to the determined location point.

[0064] The route server 745 can receive current location and destination information and provide routing information, map data, alternative route data, and / or traffic and road condition data for the vehicle.

[0065] In one embodiment, the location server 760 may include location determination capabilities, transceiver almanacs including transmitter signal acquisition assistance (such as GNSS satellite orbit prediction information, time information, approximate location information, and / or approximate time information), identification information of Wi-Fi access points and base stations and their locations therefor, and, in some embodiments, additional route-related information such as speed limits, traffic, and road status / construction status. The map server 750 may provide map data such as road locations, points of interest along the road, address locations along the road, road sizes, road speed limits, traffic conditions, and / or road conditions (wet, slippery, snow-covered / frozen, etc.), road status (passable, under construction, accident, etc.). The environmental data server 740 may provide weather and / or road-related information, traffic information, terrain information, and / or road quality and speed information, and / or other related environmental data in one embodiment.

[0066] In one embodiment, vehicles 780 and 790 and mobile device 700 in FIG. 7 may communicate on network 770 via various network access points such as wireless LAN access point 730 on network 770, or wireless WAN base station 720. Vehicles 780 and 790 and mobile device 700 may also use various short-range communication mechanisms for direct communication between devices, between vehicles, and between devices and vehicles and between vehicles and devices, in some embodiments, such as via Bluetooth, Zigbee, and 5G new radio standards, without going onto network 770.

[0067] FIG. 8 comprises a functional block diagram of vehicle 800 according to one embodiment. As described, vehicle 800 may comprise a certain type of sidelink-enabled device. Accordingly, exemplary hardware and / or software components for executing the blocks shown in FIG. 8 are shown in FIG. 9 and will be described in more detail below.

[0068] As shown in FIG. 8, vehicle 800 can receive vehicle and environmental information from vehicle external sensor 802, vehicle internal sensor 804, vehicle capabilities 806, external wireless information 808 such as the location and GNSS measurement information of other vehicles (from the environment, from other vehicles, from RSU, from the system server), and / or from vehicle motion state 810 (representing the current and / or future motion states). In one embodiment, the received vehicle, sensor, and environmental information can be processed in one or more processors 910, DSP 920, and memory 960 (shown in FIG. 9), and the processors 910, DSP 920, and memory 960 are connected and configured to provide external object detection and classification, prediction and planning, and operation execution, and to determine and update V2X or other wireless data element values including GNSS data element values, and to transmit messaging including the determined data elements via one or more wireless transceivers 930. Messaging and data elements can be sent and received via various means, protocols, and standards, such as via SAE or ETS CV2X messages, and / or via other wireless V2X protocols supported by wireless transceiver 930.

[0069] The inter-vehicle relative location determination block 828 can be used to determine the relative location of vehicles in the area of interest. In one embodiment, GNSS data is exchanged with other devices such as vehicles or RSU to determine and / or verify and / or enhance the accuracy of the relative location associated with other vehicles or devices. In one embodiment, determining the vehicles (or other devices) within the area of interest can utilize broadcast location information such as broadcast latitude and longitude received in messages from other vehicles and other devices, and the location information for vehicle 800, to determine the approximate relative location and / or approximate range between vehicles.

[0070] In one embodiment, other vehicle-related input sources, such as servers 755, 745, 760, 750, and 740, may provide information such as vehicle information, routing, location assistance, map data, and environmental data, and are used together with vehicle-to-vehicle operation coordination 824 to determine operation execution 826, providing inputs for other inputs, such as road location data, map data, driving condition data, and other vehicle-related data inputs, and / or complementing those other inputs, and / or can be used together with those other inputs. In one embodiment, the map data may include the location of roadside units for road locations, where the vehicle can utilize the relative positioning with the RSU in combination with the map data to determine the positioning with respect to the road surface, particularly in situations where other systems may fail due to poor visibility weather conditions (such as snow, rain, sandstorms, etc.). In one embodiment, the map data from map server 750 is utilized together with relative and / or absolute data from neighboring vehicles and / or RSU 725 to determine a high-confidence absolute location for multiple vehicles and a relative location with respect to the road / map. For example, if vehicle A780 has a higher-precision / higher-confidence location than other vehicles in communication with vehicle A780, such as vehicle B790, other vehicles can use the high-precision relative location sent from vehicle A780 to vehicle B790 and the GNSS information for the high-precision location to determine a high-precision location for vehicle B790, even if the system of vehicle B790 cannot calculate a highly accurate location in a particular situation or environment. In this situation, the presence of vehicle A with a high-precision location determination system benefits all surrounding vehicles by sharing one or more high-precision locations along with the ongoing relative location information. Further, assuming the map data from map server 750 is accurate, the ability to propagate high-precision location data from vehicle A780 to surrounding vehicles such as vehicle B790 enables the surrounding vehicles to accurately determine their relative locations with respect to the map data even in a signal / location environment that would otherwise be problematic. It becomes. The vehicle information server 755 can be used to determine not only the relative location between the GNSS receiver on vehicle A780 and, for example, vehicle B790 by vehicle A or other vehicles, but also the distance between the closest points of vehicle A780 and vehicle B790, and can provide vehicle information such as size, shape, and antenna location. In one embodiment, traffic information from the traffic control and optimization server 765 can be used to determine the overall route selection and rerouting, which is (in one embodiment) used together with the route server 745. In one embodiment, the environmental data server 740 can provide inputs about road conditions, black ice, snow, water on the road, and other environmental conditions that can also affect the judgments and criteria in the inter-vehicle operation coordination block 824 and the operation execution block 826. For example, in freezing or rainy conditions, vehicle 800 can execute and / or request an increase in the inter-vehicle distance from adjacent vehicles, or can select a route option that avoids road hazard conditions such as black ice and still water.

[0071] Block 828 uses various dedicated or general-purpose hardware and software, such as using a processor 910 and / or a DSP 920 (as shown again in FIG. 9) and a memory 960, or in one embodiment, can be implemented in dedicated hardware blocks such as a dedicated sensor processing and / or a vehicle messaging core. According to some embodiments, the location of nearby vehicles is based on the RTT and SS of the broadcast signal for the vehicle (as described in the above embodiments), and / or signal-based timing measurements such as time of arrival (TOA), signal strength, etc., the broadcast latitude and longitude from neighboring vehicles, and the distance determined based on the current location of the vehicle, etc., and can be determined through various means. Additionally or alternatively, the location of nearby vehicles can be determined from sensor measurements such as light detection and ranging (LIDAR), radio detection and ranging (RADAR), SONAR, and camera measurements. In one embodiment, some or all of blocks 802, 804, 806, 808, and / or 810 can have dedicated processing cores, for example, to improve performance and reduce measurement latency. In one embodiment, some or all of blocks 802, 804, 806, 808, and / or 810 can share the processing with block 828.

[0072] In some embodiments, the vehicle external sensor 802 may include a camera, LIDAR, RADAR, proximity sensor, rain sensor, weather sensor, GNSS receiver 970, and received data used with these sensors, where the received data may be from other vehicles, devices, and in one embodiment, servers such as map server 750, route server 745, vehicle information server 755, environmental data server 740, location server 760, etc., and / or related devices such as mobile device 700 that may be present inside or near vehicle A780, etc., such as map data, environmental data, location, route, and / or other vehicle information. For example, in one embodiment, mobile device 700 may provide an additional source of GNSS measurements, an additional source of motion sensor measurements, or serve as a communication portal to a WAN, Wi-Fi, or other network, and as a gateway to various information servers such as servers 740, 745, 750, 755, 760, and / or 765, etc., to provide network access.

[0073] It should be understood that vehicle 800 may include one or more cameras. In one embodiment, the camera may be adjustable (such as a rotatable camera) in the front, side, rear, or field of view. As shown in FIG. 10, for example, there may be a plurality of cameras 1006 facing the same surface. For example, cameras 1006 and the camera mounted on the bumper at 1008 may include two front cameras, namely, those focused on lower objects and / or lower viewpoints (such as those mounted on the bumper) for parking, and those focused on higher viewpoints for tracking traffic, other vehicles, pedestrians, and more distant objects, etc. In one embodiment, various fields of view may be stitched and / or correlated with other inputs such as V2X inputs from other vehicles in order to optimize the tracking of other vehicles with external entities and objects and / or to calibrate sensor systems with respect to each other. LIDAR 1004 may be mounted on the roof and may be rotating or may be focused on a specific viewpoint (front, rear, side, etc.). LIDAR 1004 may be solid state or mechanical. The proximity sensor may be ultrasonic, RADAR-based, light-based (such as based on infrared distance measurement), and / or capacitive (surface touch oriented, or capacitive detection of a metallic body). The rain sensor and weather sensor may include various sensing capabilities and technologies such as a barometric pressure sensor, a moisture detector, a rain sensor, and / or a light sensor, and / or may utilize other existing sensor systems. The GNSS receiver may be mounted on the roof, such as in the fin antenna assembly at the rear of the vehicle's roof, on the hood or dashboard, or otherwise disposed within the vehicle's exterior or interior.

[0074] In one embodiment, the vehicle interior sensor 804 may include wheel sensors 1012 such as tire pressure sensors, brake pad sensors, brake status sensors, speedometers, and other speed sensors, heading sensors and / or azimuth sensors such as magnetometers and geomagnetic compasses, distance sensors such as odometers and wheel tick sensors, inertial sensors such as accelerometers and gyroscopes, and inertial positioning results using the above-described sensors and yaw sensors, pitch sensors, and / or roll sensors that may be determined individually or determined using other sensor systems such as accelerometers, gyroscopes, and / or tilt sensors.

[0075] Both the vehicle interior sensor 804 and the vehicle exterior sensor 802 may have shared or dedicated processing capabilities. For example, a sensor system or subsystem may have one or more sensor processing cores that determine vehicle status values such as yaw, pitch, roll, heading, speed, acceleration capability and / or distance, and / or stopping distance, based on measurements and other inputs from accelerometers, gyroscopes, magnetometers, and / or other sensing systems. Different sensing systems may communicate with each other to determine measurements or may send values to block 828 to determine vehicle location. Vehicle status values derived from measurements from the interior and exterior sensors may be further combined with vehicle status values and / or measurements from other sensor systems using a general-purpose or application processor. For example, block 828 and / or 824 may be implemented on a dedicated or centralized processor to determine data element values for V2X messaging that may be sent using wireless transceiver 930 or via other communication transceivers. In one embodiment, sensors may be separated into related systems such as LIDAR, RADAR, motion, wheel systems, etc., which are operated by dedicated processing cores for raw results, vehicle status values are output from each core, those vehicle status values are combined and interpreted to derive combined vehicle status values including capability data elements and status data elements, and those combined vehicle status values are used to control or otherwise affect vehicle operation and / or as a messaging step shared with other vehicles and / or systems via V2X or other messaging capabilities. These messaging capabilities may be based on various wireless-related, optical-related, or other communication standards, such as those supported by wireless transceiver 930 and antenna 932 in one embodiment.

[0076] In one embodiment, vehicle capabilities 806 may include stopping, braking, accelerating, and turning radius, as well as performance estimates for autonomous and / or non-autonomous driving status and / or capabilities. The capability estimates may be based on stored estimates that can be loaded into memory in one embodiment. These estimates may be based on any empirical performance number for a particular vehicle or an average value across one or more vehicles, and / or one or more models for a given performance figure. When performance estimates for multiple models are averaged or otherwise combined, they may be selected based on similar or common characteristics. For example, vehicles with similar or the same weight and the same or similar drivetrains may share performance estimates for driving performance-related estimates such as braking / stopping distance, turning radius, and acceleration performance. Vehicle performance estimates may also be obtained, for example, using external V2X input 808 over a wireless network from a vehicle data server on the network. This is particularly useful for obtaining information about vehicles that are not wireless-enabled and cannot directly provide vehicle information. In one embodiment, vehicle capabilities 806 may also be affected by vehicle component status such as tire wear, tire brand capabilities, brake pad wear, brake brand and capabilities, and engine status. In one embodiment, vehicle capabilities 806 may also be affected by overall vehicle status such as speed, heading, etc., and external factors such as road surface, road conditions (wet, dry, slipperiness / traction, etc.), weather (windy, rainy, snowy, black ice, slippery roads, etc.). In many cases, wear, or other system degradation, and external factors such as weather, road surface, road conditions, etc., can be utilized to reduce, confirm, or improve performance estimates. In some embodiments, actual measured vehicle performance, such as measuring vehicle stopping distance and / or acceleration time per distance, can be measured and / or estimated based on actual vehicle driving-related performance. In one embodiment, the meter If the measurements are not consistent, the more recently measured performance may be weighted more heavily or prioritized over older measurements. Similarly, in one embodiment, measurements taken during similar conditions, such as in the same type of weather currently detected by the vehicle via vehicle external sensor 802 and / or vehicle internal sensor 804, or on the same type of road surface, may be weighted more heavily and / or prioritized when determining the capabilities.

[0077] The V2X vehicle detection, prediction, and planning execution 812 utilizes the sensor fusion and object classification block 816 in part to correlate, validate, and / or combine the data from the input blocks 802, 804, 806, 808, and 810, and handle the reception and processing of information from blocks 802, 804, 806, 808, and 810 via the external object detection and classification block 814. The external object detection and classification of block 814 determines that an object exists and determines the object's type (car, truck, bicycle, motorcycle, pedestrian, animal, etc.), and / or the object status relative to the vehicle, such as size, threat level, and vulnerability priority (pedestrians, for example, will have a higher vulnerability priority than road debris), as well as the movement status, proximity, heading, and / or position relative to the vehicle. In one embodiment, block 814 may utilize GNSS measurement messages from other vehicles to determine the relative positioning to other vehicles. This output from block 814 can be provided to the prediction and planning block 818, which determines the detected objects and vehicles and their associated trajectories via block 820, determines vehicle operations and route planning in block 822, and whose output is utilized either directly in block 826 vehicle operation execution or via the V2X inter-vehicle negotiation block 824. The V2X inter-vehicle negotiation block 824 integrates and takes into account the operation plans, locations, and status received from other vehicles. V2X inter-vehicle negotiation takes into account the status of neighboring vehicles and enables negotiation and cooperation between vehicles affected by neighboring or otherwise, based on various conditions such as vehicle priorities, vehicle capabilities (such as the ability to stop, decelerate, or accelerate to avoid collisions), and in some embodiments, weather conditions (raining, foggy, snow, wind), road conditions (dry, wet, frozen, slippery), etc. These include, for example, negotiation about the timing and order to pass through an intersection between cars approaching an intersection, negotiation about lane changes between adjacent cars, negotiation about parking spaces, one lane Including negotiation for access to proceed in one direction on a road or to overtake another vehicle. Vehicle - to - vehicle negotiation may also include time - based and / or distance - based factors such as appointment time, distance to destination, and estimated route time to reach the destination, and in some embodiments, may include the type of appointment and the importance of the appointment.

[0078] FIG. 9 is a block diagram of various hardware and software components of a sidelink - enabled device 900 according to one embodiment. Again, a vehicle (e.g., vehicle A780, vehicle B790), a mobile device (e.g., mobile device 700), and / or an RSU (e.g., RSU725) may include the sidelink - enabled device 900. Since the sidelink - enabled device 900 can be incorporated into a vehicle, the various components shown in FIG. 9 are targeted at vehicle applications. Thus, in embodiments where the sidelink - enabled device 900 is incorporated into a mobile device or an RSU, the sidelink - enabled device 900 may not include such components.

[0079] In an embodiment where the sidelink-enabled device 900 is incorporated into a vehicle, the vehicle may comprise, for example, a car, a truck, a motorcycle, and / or any other motorized vehicle, and may transmit a wireless signal to other sidelink-enabled devices and receive a wireless signal from other sidelink-enabled devices via, for example, vehicle-to-vehicle communication (using, for example, one of the CV2X vehicle-to-vehicle communication protocols), and / or in one embodiment, may receive a wireless signal from the wireless communication network 770 via a WAN, a base station 720, and / or a wireless access point 730, and / or from an RSU 725. In one example, the sidelink-enabled device 900 (e.g., vehicle 780) may communicate with other vehicles (e.g., vehicle 790) and / or the wireless communication network by using a wireless signal over a wireless communication link with a remote wireless transceiver, via a wireless transceiver 930 and a wireless antenna 932, where the remote wireless transceiver may be integrated with another vehicle 790, an RSU 725, a mobile device 700, a base station 720 (e.g., Node B, eNode B, or gNode B), or a wireless access point 730.

[0080] According to some embodiments, the sidelink-capable device 900 can transmit a wireless signal to a local transceiver and receive a wireless signal from the local transceiver on a wireless communication link by using, for example, a WAN, WLAN, and / or PAN wireless transceiver represented herein by one of the wireless transceiver 930 and the wireless antenna 932 (where sidelink communication may be possible). In one embodiment, the wireless transceiver 930 may comprise various combinations of a WAN transceiver, a WLAN transceiver, and / or a PAN transceiver. In one embodiment, the wireless transceiver 930 may also comprise a Bluetooth transceiver, a ZigBee transceiver, or other PAN transceiver. In one embodiment, the sidelink-capable device 900 can transmit a wireless signal to the wireless transceiver 930 on the sidelink-capable device 900 and receive a wireless signal from the wireless transceiver 930 on the wireless communication link 934. The local transceiver, the WAN wireless transceiver, and / or the mobile wireless transceiver may comprise a WAN transceiver, an access point (AP), a femtocell, a home base station, a small cell base station, an HNB, a HeNB, or a gNode B, and may provide access to a WLAN (e.g., an IEEE 802.11 network), a wireless personal area network (PAN, e.g., a Bluetooth network), a cellular network (e.g., an LTE network, or other wireless wide area networks such as those described in the next paragraph), and / or a sidelink-capable device (e.g., a cellular device capable of communicating directly via a WAN transceiver using sidelink communication). Of course, these are only examples of networks that can communicate with a vehicle over a wireless link, and it should be understood that the claimed subject matter is not limited in this regard. In one embodiment, GNSS signals 974 from GNSS satellites are utilized by the sidelink-capable device 900 for location determination and / or for determination of GNSS signal parameters and demodulated data.In one embodiment, signals 934 from a WAN transceiver, WLAN, and / or PAN local transceiver are used for location determination, either alone or in combination with GNSS signals 974.

[0081] Examples of network technologies that may support wireless transceiver 930 are GSM, CDMA, WCDMA (registered trademark), LTE, 5G or New Radio Access Technology (NR), HRPD, and V2X vehicle-to-vehicle communication. As described, the V2X communication protocol may be defined in various standards such as SAE standards and ETS-ITS standards. GSM, WCDMA (registered trademark), and LTE are technologies defined by 3GPP (registered trademark). CDMA and HRPD are technologies defined by the Third Generation Partnership Project II (3GPP (registered trademark) 2). WCDMA (registered trademark) is also part of the Universal Mobile Telecommunications System (UMTS) and may be supported by an HNB.

[0082] Wireless transceiver 930 may communicate with a communication network via a WAN wireless base station, which may comprise the deployment of equipment that provides subscriber access to a wireless telecommunications network (e.g., under a service contract). Here, the WAN wireless base station may perform the functions of a WAN or cell base station when serving subscriber devices within a cell determined at least in part based on the area in which the WAN wireless base station is capable of providing access services. Examples of WAN base stations include GSM base stations, WCDMA (registered trademark) base stations, LTE base stations, CDMA base stations, HRPD base stations, Wi-Fi base stations, Bluetooth base stations, WiMAX base stations, 5G NR base stations. In one embodiment, a further wireless base station may comprise a WLAN and / or PAN transceiver.

[0083] In one embodiment, the sidelink-capable device 900 may include one or more cameras 935. In one embodiment, the camera may comprise a camera sensor and a mounting assembly. Different mounting assemblies may be used for different cameras on the sidelink-capable device 900. For example, a front camera may be mounted within the front bumper of the sidelink-capable device 900, within the stem of the rearview mirror assembly, or within other front areas. A rear camera may be mounted within the rear bumper / fender of the vehicle, on the rear window, on the trunk, or on other rear areas. A side camera may be mounted on the side of the vehicle, such as integrated into a mirror assembly or a door assembly. The camera may provide object detection and distance estimation, particularly for objects of known size and / or shape (e.g., a stop sign and a license plate, both having a standardized size and shape), and may also provide information regarding rotational movement with respect to the axis of the vehicle, such as between curves. When used in cooperation with other sensors, the camera may be calibrated through the use of other systems, such as by using LIDAR, wheel tick / distance sensors, and / or GNSS, to verify the traveled distance and angular orientation. The camera may be used similarly to verify and calibrate other systems, for example, by calibrating against known distances between known objects (landmarks, roadside markers, road mile markers, etc.) to verify that the distance measurements are correct and, also, to verify that object detection is performed accurately so that the objects are mapped to the correct location relative to the vehicle by LIDAR and other systems accordingly.Similarly, for example, when combined with an accelerometer, the collision time with a road hazard can be estimated (e.g., the elapsed time before hitting a pothole), the collision time is verified against the actual time of the collision, and / or the stop model (e.g., if attempting to stop before hitting an object, compared to the estimated stopping distance), and / or the operation model (verifying whether the current estimated value of the turning radius at the current speed and / or the measure of operability at the current speed is accurate under the current conditions, and accordingly, modifying to update the estimated parameters based on camera and other sensor measurements) can be verified against.

[0084] Accelerometers, gyros, and magnetometers 940 can be utilized in one embodiment to provide and / or verify motion and orientation information. Accelerometers and gyros can be utilized to monitor wheel and drive train performance. An accelerometer can also be utilized in one embodiment to verify the actual time of a collision with a road hazard, such as a pothole, against a predicted time based on existing stop and acceleration models, as well as a steering model. Gyros and magnetometers can be utilized in one embodiment to measure, respectively, the rotational status of the vehicle and the orientation relative to magnetic north, and in particular, to measure and calibrate estimates and / or models for the turning radius at the current speed and the measure of operability at the current speed when used in cooperation with measurements from other external and internal sensors, such as other sensors 945, such as speed sensor measurements, wheel tick sensor measurements, and / or odometer measurements.

[0085] The LIDAR950 measures the range to an object using pulsed laser light. A camera can be used for object detection, but the LIDAR950 provides a means for more reliably detecting the distance (and azimuth) of an object, especially with respect to objects of unknown size and shape. The LIDAR950 measurements can also be used to estimate the rate of progress, vector direction, relative position, and stopping distance by providing accurate distance measurements and delta distance measurements.

[0086] The memory 960 can be utilized with the processor 910 and / or the DSP 920, and the memory 960 can comprise a random access memory (RAM), read-only memory (ROM), disk drive, flash, or other memory devices, or various combinations thereof. In one embodiment, the memory 960 can include instructions for implementing the various methods described throughout this specification, including, for example, a process for implementing the use of relative positioning between vehicles and between a vehicle and an external reference object such as a roadside unit. In one embodiment, the memory can include instructions for operating and calibrating sensors, receiving maps, weather, vehicles (both the sidelink-enabled device 900 and surrounding vehicles), and other data, and using the various internal and external sensor measurements, as well as the received data and measurements, to determine driving parameters such as relative position, absolute position, stopping distance, acceleration, and turning radius and / or maneuverability at the current speed, inter-vehicle distance, turn start / timing and performance, and start / timing of driving operations.

[0087] In one embodiment, the power and drive system (generator, battery, transmission, engine) and associated system 975, as well as the systems (brake, actuator, throttle control, steering, and electric) 955, can be controlled by a processor and / or by hardware or software, or by the vehicle operator, or by some combination thereof. The systems (such as brake, actuator, throttle control, steering, and electric) 955, as well as the power and drive or other systems 975, are utilized along with performance and operating parameters to autonomously (and manually for alerts and emergency override / braking / stopping) operate and move the sidelink-enabled device 900 safely, effectively, and efficiently for merging into traffic, stopping, accelerating, and otherwise operating, such that the sidelink-enabled device 900 can be safely and accurately driven. In one embodiment, inputs from various sensor systems such as camera 935, accelerometer, gyro, and magnetometer 940, LIDAR 950, GNSS receiver 970, RADAR 953, inputs from wireless transceiver 930 and / or other sensors 945, messaging, and / or measurements, or various combinations thereof, can be utilized by processor 910 and / or DSP 920 or other processing systems to control the power and drive system 975, as well as the systems (such as brake actuator, throttle control, steering, and electric) 955.

[0088] The GNSS receiver 970 can be used to determine the position (absolute position) relative to the Earth and, when used with measurements from other objects and / or other information such as mapping data, can be used to determine the position relative to other objects such as other vehicles and / or relative to the road surface. To determine the position, the GNSS receiver 970 can use one or more antennas 972 (which can be the same as antenna 932 depending on the functional requirements) to receive RF signals 974 from GNSS satellites (e.g., RF signal 712 from GNSS satellite 710). The GNSS receiver 970 can support one or more GNSS constellations as well as other satellite-based navigation systems. For example, in one embodiment, the GNSS receiver 970 can support global navigation satellite systems such as GPS, GLONASS, Galileo, and / or BeiDou, or any combination thereof. In one embodiment, the GNSS receiver 970 can support regional navigation satellite systems such as NavIC, or QZSS, or combinations thereof, as well as satellite-integrated Doppler orbitography and radio-positioning (DORIS: Doppler Orbitography and Radio-positioning Integrated by Satellite), or wide area augmentation systems (WAAS), or European Geostationary Navigation Overlay Service (EGNOS), or multi-functional satellite augmentation systems (MSAS), or local area augmentation systems (LAAS), etc., various augmentation systems (e.g., satellite-based augmentation systems (SBAS), or ground-based augmentation systems (GBAS)). In one embodiment, the wireless receiver 930 and antenna 932 can support multiple bands and sub-bands such as the GPS L1 band, L2 band, and L5 band, Galileo E1 band, E5 band, and E6 band, Compass (BeiDou) B1 band, B3 band, and B2 band, GLONASS G1 band, G2 band, and G3 band, and QZSS L1C band, L2C band, and L5-Q band, etc.

[0089] The GNSS receiver 970 can be used to determine location, location and relative location that can be used for location and navigation, and, when appropriate, to determine the distance between two points in clear weather conditions and use that distance data to calibrate other sensors such as an odometer and / or LIDAR. In one embodiment, for example, a GNSS-based relative location based on shared Doppler and / or pseudo-range measurements between vehicles can be used to determine an accurate distance between two vehicles, and when combined with vehicle information such as shape and model information, and GNSS antenna location, it can be used to calibrate, verify, and / or affect the confidence level associated with information from LIDAR, camera, RADAR, SONAR, and other distance estimation techniques. GNSS Doppler measurements can also be used to determine the linear and rotational motion of a vehicle, or of a vehicle relative to another vehicle, and these motions can be used, together with gyroscopes and / or magnetometers and other sensor systems, to maintain the calibration of those systems based on the measured location data. Relative GNSS position data can also be combined with high-confidence absolute location from an RSU to determine a high-confidence absolute location of the vehicle. Additionally, relative GNSS position data can be used during adverse weather conditions to obscure LIDAR and / or camera-based data sources in order to avoid other vehicles and stay within a lane or other assigned road area. For example, using a GNSS receiver and an RSU with V2X capabilities, GNSS measurement data can be provided to the vehicle, and the GNSS measurement data can be used to navigate the vehicle relative to the map and keep the vehicle in the lane and / or on the road despite a lack of visibility when the absolute location of the RSU is provided.

[0090] RADAR953 uses the transmitted radio waves reflected from an object. The reflected radio waves are analyzed based on the time it took for the reflection to arrive and other signal characteristics of the reflected radio waves to determine the location of nearby objects. RADAR953 can be utilized to detect the locations of nearby vehicles, roadside objects (such as signs, other vehicles, pedestrians, etc.), and generally enables the detection of objects even in adverse weather conditions such as snow, rain, or hail. Thus, RADAR953 can be used to complement the LIDAR950 system and the camera935 system when providing ranging information to other objects by providing ranging and distance measurement values when vision-based systems typically fail. Additionally, RADAR953 can be utilized to calibrate and / or perform a sanity check on other systems such as LIDAR950 and camera935. The ranging measurements from RADAR953 can be used to determine / measure the stopping distance, acceleration, and maneuverability at the current speed (e.g., the turning radius at the current speed and / or another measure of maneuverability). In some systems, ground-penetrating RADAR can also be used to track the road surface, for example, via RADAR reflection markers on ground features such as the road surface or a trench.

[0091] FIG. 10 is a perspective view of an exemplary vehicle 1000, according to one embodiment, capable of communicating using sidelink / V2X communication in the method in the previously described embodiments. Here, some of the components described with respect to FIG. 9 and the previous embodiments are shown. As shown and as previously described, vehicle 1000 can have cameras such as camera 1006 mounted on the rearview mirror, a camera (not shown) mounted on the front fender, a camera (not shown) mounted on the side mirror, and a rear camera (not shown but typically on the trunk, hatch, or rear bumper). Vehicle 1000 may also have LIDAR 1004 for detecting objects and measuring the distance to those objects, and LIDAR 1004 is often mounted on the roof, but if there are multiple LIDAR units 1004, the LIDAR units 1004 can be directed around the front, back, and sides of the vehicle. Vehicle 1000 can have various other location-related systems such as GNSS receiver 970 (typically located in the shark fin unit at the rear of the roof as shown), various wireless transceivers (such as WAN, WLAN, V2X, etc., but not typically necessarily located in the shark fin) 1002, RADAR 1008 (typically on the front bumper), and SONAR 1010 (if present, typically located on both sides of the vehicle). There may also be various wheels 1012 and drive train sensors, such as tire pressure sensors, accelerometers, gyros, and wheel rotation detection and / or counters. In one embodiment, distance measurements and relative locations determined via various sensors such as LIDAR, RADAR, cameras, GNSS, and SONAR are combined with information about the size and shape of the vehicle, as well as information about the location of the sensors, so that the distance and relative location between the surfaces of different vehicles can be determined, and thus the distance or vector from a sensor to another vehicle or between two different sensors (such as two GNSS receivers) can be gradually increased to account for the location of the sensors on each vehicle.Therefore, it is necessary to correct the accurate GNSS distances and vectors between two GNSS receivers based on the relative locations of various vehicle surfaces with respect to the GNSS receivers. For example, when determining the distance between the front bumper of a rear vehicle and the rear bumper of a leading vehicle, it is necessary for that distance to be adjusted based on the distance between the GNSS receiver and the front bumper in the following vehicle, and the distance between the GNSS receiver of the previous vehicle and the rear bumper of the previous vehicle. For example, the distance between the rear bumper of the previous vehicle and the front bumper of the following vehicle is obtained by subtracting the distance from the GNSS receiver of the following vehicle to the front bumper and the distance from the GNSS receiver of the previous vehicle to the rear bumper from the relative distance between the two GNSS receivers. This list is not limiting, and it is understood that FIG. 10 provides exemplary locations of various sensors in one embodiment of a vehicle equipped with the sidelink-enabled device 900.

[0092] It will be apparent to those skilled in the art that substantial modifications may be made in accordance with specific requirements. For example, customized hardware may be used and / or certain elements may be implemented in hardware, software (including portable software such as applets), or both. Additionally, connections to other computing devices such as network input / output devices may be employed.

[0093] Referring to the accompanying drawings, a component that may include a memory (e.g., memory 960 in FIG. 9) may include a non-transitory machine-readable medium. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any storage medium involved in providing data that causes a machine to operate in a specific manner. In the embodiments provided above, various machine-readable media may be included when providing instructions / code to a processing unit and / or other devices for execution. Additionally or alternatively, a machine-readable medium may be used to store and / or carry such instructions / code. In many implementations, a computer-readable medium is a physical and / or tangible storage medium. Such media can take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Common forms of computer-readable media include, for example, magnetic and / or optical media, any other physical media having a pattern of holes, RAM, PROM, EPROM, FLASH®-EPROM, any other memory chip or cartridge, a carrier wave as described hereinafter, or any other medium from which a computer can read instructions and / or code.

[0094] The methods, systems, and devices described herein are examples. Various embodiments may, as appropriate, omit, substitute, or add various procedures or components. For example, features described with respect to some embodiments can be combined with various other embodiments. Different aspects and elements of embodiments can be combined in the same way. The various components of the figures provided herein can be embodied in hardware and / or software. Also, technology evolves, and thus many of the elements are examples that do not limit the scope of the present disclosure to their specific examples.

[0095] For the main reason of general usage, it has been found that it is sometimes convenient to call such signals bits, information, values, elements, symbols, characters, variables, terms, numbers, numerical values, etc. However, it should be understood that all of these terms or similar terms should be associated with appropriate physical quantities and are only convenient ways of calling. Unless otherwise specified, as is clear from the above description, throughout this specification, descriptions using terms such as "process", "calculate", "compute", "determine", "ascertain", "identify", "associate", "measure", "execute", etc. are understood to refer to actions or processes of a specific device, such as a dedicated computer or a similar dedicated electronic computing device. Therefore, in the context of this specification, a dedicated computer or a similar dedicated electronic computing device can operate or transform signals generally represented as physical electronic quantities, electrical quantities, or magnetic quantities within the memory, registers, or other information storage devices, transmission devices, or display devices of the dedicated computer or the similar dedicated electronic computing device.

[0096] The terms "and" and "or" as used herein may also include various meanings that are also expected to depend at least in part on the context in which such terms are used. Generally, when "or" is used to associate a list such as A, B, or C, it is meant to mean A, B, and C as used inclusively here, as well as A, B, or C as used exclusively here. In addition, the term "one or more" as used herein may be used to describe any singular feature, structure, or property, or may be used to describe some combination of features, structures, or properties. However, this is merely an exemplary example, and it should be noted that the claimed subject matter is not limited to this example. Further, the term "at least one of" when used to associate a list such as A, B, or C may be interpreted to mean any combination of A, B, and / or C, such as A, AB, AA, AAB, AABBCCC, etc.

[0097] Although some embodiments have been described, various modifications, alternative configurations, and equivalents may be used without departing from the spirit of the disclosure. For example, the above elements may simply be components of a larger system, where other rules may take precedence over the application examples of the various embodiments or may modify the application examples of the various embodiments differently. Also, some steps may be taken before, during, or after the above elements are considered. Accordingly, the above description does not limit the scope of the disclosure.

[0098] In view of this description, embodiments may include different combinations of features. Examples of implementations are described in the following numbered clauses. Clause 1: A method for sidelink positioning determination and communication, comprising, in a first sidelink-enabled device, obtaining data from one or more data sources indicating one or more criteria for using either round-trip time (RTT)-based positioning of a target node or single-sided (SS)-based positioning of the target node; selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the data using the first sidelink-enabled device; and sending a message from the first sidelink-enabled device to a second sidelink-enabled device, the message including information indicating the selected positioning type. Clause 2: The method of Clause 1, wherein the message comprises an intelligent transport system (ITS) message. Clause 3: The method according to any one of Clauses 1 to 2, wherein the first sidelink-enabled device comprises a source node and the second sidelink-enabled device comprises a target node. Clause 4: The method of Clause 3, further comprising sending a positioning reference signal (PRS) from the first sidelink-enabled device according to the selected positioning type. Clause 5: The method according to any one of Clauses 3 to 4, wherein obtaining data from one or more data sources comprises obtaining information from the target node. Clause 6: The method of Clause 5, wherein the information from the target node comprises an indication of a positioning type selection from the target node, and the step of selecting a positioning type is further based on the positioning type selection from the target node. Clause 7: The method according to any one of Clauses 1 to 2, wherein the first sidelink-enabled device comprises a target node and the second sidelink-enabled device comprises a source node. Clause 8: The method according to any one of Clauses 1 to 7, wherein the information indicating the selected positioning type included in the message consists of 2 bits within the message. Clause 9: Any of the methods of Clauses 1 - 8, wherein the message is sent using a Media Access Control - Control Element (MAC - CE) or a second - stage control format. Clause 10: Any of the methods of Clauses 1 - 9, wherein the message comprises a pre - PRS message. Clause 11: Any of the methods of Clauses 1 - 10, comprising one or more criteria, whether the relative position over time between a first sidelink - capable device and a second sidelink - capable device fails to exhibit a threshold amount of angular change, whether a respective speed sensor of the first sidelink - capable device, the second sidelink - capable device, or both is determined to have a difference greater than a threshold, whether the first sidelink - capable device, the second sidelink - capable device, or both have moved a first threshold distance within a threshold amount of time, whether the relative distance between the first sidelink - capable device and the second sidelink - capable device has not changed by a second threshold distance within a threshold amount of time, or whether a respective local oscillator of the first sidelink - capable device, the second sidelink - capable device, or both has been synchronized or initialized within a threshold amount of time before positioning of a selected positioning type is to be performed, or any combination thereof. Clause 12: A first sidelink - capable device for sidelink positioning determination and communication, comprising a transceiver, a memory, and one or more processing units communicatively coupled to the transceiver and the memory, the one or more processing units being configured to obtain data from one or more data sources indicative of one or more criteria for using either round - trip time (RTT) - based positioning of a target node or single - side (SS) - based positioning of the target node, select a positioning type from the group consisting of RTT - based positioning and SS - based positioning based on the data, and send a message via the transceiver to a second sidelink - capable device, the message including information indicative of the selected positioning type. Clause 13: The first sidelink corresponding device of Clause 12, wherein one or more processing units are configured to include an Intelligent Transport System (ITS) message in a message. Clause 14: The first sidelink corresponding device according to any one of Clauses 12 to 13, wherein the first sidelink corresponding device includes a source node, and the second sidelink corresponding device includes a target node. Clause 15: The first sidelink corresponding device of Clause 14, wherein one or more processing units are further configured to send a Positioning Reference Signal (PRS) via a transceiver according to a selected positioning type. Clause 16: The first sidelink corresponding device according to any one of Clauses 14 to 15, wherein one or more processing units are configured to obtain information from a target node in order to obtain data from one or more data sources. Clause 17: In response to information from a target node comprising an indication of a positioning type selection from the target node, the first sidelink corresponding device of Clause 16, wherein one or more processing units are further configured to select a positioning type based on the positioning type selection from the target node. Clause 18: The first sidelink corresponding device according to any one of Clauses 12 to 13, wherein the first sidelink corresponding device includes a target node, and the second sidelink corresponding device includes a source node. Clause 19: The first sidelink corresponding device according to any one of Clauses 12 to 18, wherein one or more processing units are further configured to include 2 bits in a message as information indicating a selected positioning type. Clause 20: The first sidelink corresponding device according to any one of Clauses 12 to 19, wherein one or more processing units are further configured to send a message using a Medium Access Control - Control Element (MAC-CE) or a second stage control format. Clause 21: The first sidelink corresponding device according to any one of Clauses 12 to 20, wherein the message comprises a pre-PRS message. Clause 22: One or more criteria include whether the relative position over time between a first sidelink-capable device and a second sidelink-capable device fails to exhibit a threshold amount of angular change, whether the respective speed sensors of the first sidelink-capable device, the second sidelink-capable device, or both are determined to have a difference greater than a threshold, whether the first sidelink-capable device, the second sidelink-capable device, or both have moved a first threshold distance within a threshold amount of time, whether the relative distance between the first sidelink-capable device and the second sidelink-capable device has not changed by a second threshold distance within a threshold amount of time, or whether the respective local oscillators of the first sidelink-capable device, the second sidelink-capable device, or both are synchronized or initialized within a threshold amount of time before positioning of a selected positioning type is to be performed, or any combination thereof, for a first sidelink-capable device of any of Clauses 12 to 21. Clause 23: A device for sidelink positioning determination and communication, comprising means for obtaining data from one or more data sources indicating one or more criteria for using either round trip time (RTT)-based positioning of a target node or single side (SS)-based positioning of the target node, means for selecting a positioning type from the group consisting of RTT-based positioning and SS-based positioning based on the data, and means for sending a message from a first sidelink-capable device to a second sidelink-capable device, the message including information indicating the selected positioning type. Clause 24: The device of Clause 23, wherein the means for sending a message comprises means for sending an intelligent transport system (ITS) message. Clause 25: The device of any of Clauses 23 to 24, wherein the first sidelink-capable device comprises a source node and the second sidelink-capable device comprises a target node. Clause 26: The device of Clause 25, further comprising means for sending a positioning reference signal (PRS) from a first sidelink - capable device according to a selected positioning type. Clause 27: The device of any one of Clauses 25 - 26, wherein means for obtaining data from one or more data sources comprises means for obtaining information from a target node. Clause 28: The device of any one of Clauses 23 - 24, wherein the first sidelink - capable device comprises a target node and the second sidelink - capable device comprises a source node. Clause 29: The device of any one of Clauses 23 - 28, wherein information indicating a selected positioning type included in a message consists of 2 bits within the message. Clause 30: A non - transitory computer - readable medium storing instructions for sidelink positioning determination and communication, the instructions comprising code for obtaining data from one or more data sources, indicating one or more criteria for using either round - trip time (RTT) - based positioning of a target node or single - side (SS) - based positioning of a target node, code for selecting a positioning type from a group consisting of RTT - based positioning and SS - based positioning based on the data, and code for sending a message from a first sidelink - capable device to a second sidelink - capable device, the message including information indicating the selected positioning type.

Explanation of Signs

[0099] 100 Road 110, 800, 1000 Vehicles 110 - 1 Vehicle, the first vehicle 110 - 2 Vehicle, the second vehicle 120 Pedestrian 130 RSU 140 - 1, 140 - 2 Distances 200 - A RTT - based positioning 200 - B SS - based positioning 210 First pre-PRS message, pre-PRS message 220 Second pre-PRS message, pre-PRS message 230 Source PRS, PRS, PRS signal 240 Target PRS, PRS, PRS signal 250 "Post-PRS" message, post-PRS message 310 Pre-PRS message 320 Source PRS 700 Mobile device 710 GNSS satellite 712, 974 GNSS signal, RF signal 720 Base station, WAN base station, wireless WAN base station 722, 724, 732 Wireless signal 723 Link 725 Communication-enabled RSU, RSU 725A, 910 Processor 725B Network interface 725C Traffic control unit 725D Environmental and roadside sensor information, environmental and roadside sensors 725E Wireless transceiver 730 Access point, wireless LAN access point, wireless access point 740 Environmental data server, server 745 Route server, server 750 Map server, server 755 Vehicle information server, server 760 Location server, server 765 Traffic optimization server, traffic control and optimization server, centralized traffic control and optimization server, server 770 Network, wireless communication network 780 V2X vehicle A, vehicle A, vehicle 790 V2X or other communication transceiver-enabled vehicle B, vehicle B, vehicle 802 Vehicle external sensor, block, input block 804 Vehicle interior sensor, block, input block 806 Vehicle capabilities, block, input block 808 External wireless information such as the location of other vehicles and GNSS measurement information, block, external V2X input, input block 810 Vehicle movement state, block, input block 812 V2X vehicle detection, prediction, plan execution 814 External object detection and classification block, block 816 Sensor fusion and object classification block 818 Prediction and planning block 820, 822 Blocks 824 Inter-vehicle operation coordination, inter-vehicle operation coordination block, block, V2X inter-vehicle negotiation block 826 Operation execution, operation execution block, block 828 Inter-vehicle relative location determination block, block 900 Sidelink-compatible device 901 Bus 920 DSP 930 Wireless transceiver, wireless receiver 932 Antenna, wireless antenna 934 Wireless communication link, signal 935 Camera 940 Accelerometer, gyro, and magnetometer 945 Other sensors 950 LIDAR 953 RADAR 955 System (brake, actuator, throttle control device, steering, and electricity), system (brake, actuator, throttle control device, steering, electricity, etc.), system (brake actuator, throttle control device, steering, electricity, etc.) 960 Memory 970 GNSS receiver 972 Antenna 975 Power and drive systems (generators, batteries, transmissions, engines) and related systems, power and drive or other systems, power and drive systems 1002 Various wireless transceivers 1004 LIDAR, LIDAR units 1006 Cameras, cameras mounted on rearview mirrors 1008 Cameras mounted on bumpers, RADAR 1010 SONAR 1012 Wheel sensors, wheels

Claims

1. A method for sidelink positioning determination and communication, comprising: In a first sidelink-enabled device, obtaining data from one or more data sources for use in one or more criteria for either round-trip time (RTT)-based positioning of a target node or single-sided (SS)-based positioning of the target node, wherein the RTT-based positioning is associated with distance determination based on a positioning reference signal (PRS) mutually sent between the first sidelink-enabled device and a second sidelink-enabled device, and the SS-based positioning is associated with distance determination based on the PRS sent from the first sidelink-enabled device to the second sidelink-enabled device, wherein the one or more criteria include: whether an angle formed by two of a plurality of relative positions over time between the first sidelink-enabled device and the second sidelink-enabled device fails to exhibit a threshold amount of angular change; whether a respective speed sensor of the first sidelink-enabled device, the second sidelink-enabled device, or both is determined to exhibit a difference greater than a threshold; whether the first sidelink-enabled device, the second sidelink-enabled device, or both have experienced a threshold amount of movement within a threshold amount of time; whether a relative distance between the first sidelink-enabled device and the second sidelink-enabled device has experienced a change less than a threshold amount of change within a threshold amount of time; or whether a respective local clock oscillator of the first sidelink-enabled device, the second sidelink-enabled device, or both has been synchronized or initialized within a threshold amount of time prior to the positioning of the selected positioning type being performed; or any combination thereof; a step comprising; using the first sidelink-enabled device to select a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the one or more criteria; and sending a message from the first sidelink-enabled device to the second sidelink-enabled device, the message including information indicating the selected positioning type. A method comprising the above steps.

2. The method according to claim 1, wherein the message comprises an Intelligent Transport System (ITS) message.

3. The method according to claim 1, wherein the first sidelink-capable device comprises a source node, The method according to claim 1, wherein the second sidelink-capable device comprises the target node.

4. The method according to claim 3, further comprising sending a Positioning Reference Signal (PRS) from the first sidelink-capable device according to the selected positioning type.

5. The method according to claim 3, wherein the step of obtaining the data from the one or more data sources comprises obtaining information from the target node.

6. The information from the target node comprises an indication of a positioning type selection from the target node, The method according to claim 5, wherein the step of selecting the positioning type is further based on the positioning type selection from the target node.

7. The method according to claim 1, wherein the first sidelink-capable device comprises the target node, The method according to claim 1, wherein the second sidelink-capable device comprises a source node.

8. The method according to claim 1, wherein the information indicating the selected positioning type included in the message consists of 2 bits within the message.

9. The method according to claim 1, wherein the message is sent using a Medium Access Control - Control Element (MAC-CE) or a second stage control format.

10. The method according to claim 1, wherein the message comprises a pre-PRS message for transmitting information about a subsequent PRS.

11. A first sidelink-capable device for sidelink positioning determination and communication, comprising: a transceiver; a memory; one or more processing units communicatively coupled to the transceiver and the memory, wherein the one or more processing units are to obtain data from one or more data sources indicating one or more criteria for using either round trip time (RTT)-based positioning of a target node or single side (SS)-based positioning of the target node. The RTT-based positioning is associated with distance determination based on a positioning reference signal (PRS) mutually transmitted between the first sidelink-capable device and the second sidelink-capable device, and the SS-based positioning is associated with distance determination based on the PRS transmitted from the first sidelink-capable device to the second sidelink-capable device. The one or more criteria include whether an angle formed by two of a plurality of relative positions over time between the first sidelink-capable device and the second sidelink-capable device fails to exhibit a threshold amount of angular change, whether it is determined that the respective speed sensors of the first sidelink-capable device, the second sidelink-capable device, or both exhibit a difference greater than a threshold, whether the first sidelink-capable device, the second sidelink-capable device, or both have experienced a threshold amount of movement within a threshold amount of time, whether the relative distance between the first sidelink-capable device and the second sidelink-capable device has experienced a change less than a threshold amount of change within a threshold amount of time, or whether the respective local clock oscillators of the first sidelink-capable device, the second sidelink-capable device, or both have been synchronized or initialized within a threshold amount of time before positioning of a selected positioning type is to be performed, or any combination thereof and configured to obtain select a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the one or more criteria, and send a message to the second sidelink-capable device via the transceiver, the message including information indicating the selected positioning type. A first sidelink-capable device configured to perform the above. **Claim 12** The first sidelink-capable device according to claim 11, wherein the one or more processing units are configured to include an intelligent transport system (ITS) message in the message. **Claim 13** The first sidelink-capable device includes a source node. The first sidelink-capable device according to claim 11, wherein the second sidelink-capable device comprises the target node.

14. The first sidelink-capable device according to claim 13, wherein the one or more processing units are further configured to send a positioning reference signal (PRS) via the transceiver according to the selected positioning type.

15. The first sidelink-capable device according to claim 13, wherein the one or more processing units are configured to obtain information from the target node in order to obtain the data from the one or more data sources.

16. In response to the information from the target node comprising an indication of a positioning type selection from the target node, the one or more processing units are further configured to select the positioning type based on the positioning type selection from the target node. The first sidelink-capable device according to claim 15.

17. The first sidelink-capable device comprises the target node, The first sidelink-capable device according to claim 11, wherein the second sidelink-capable device comprises a source node.

18. The first sidelink-capable device according to claim 11, wherein the one or more processing units are further configured to include 2 bits in the message as the information indicating the selected positioning type.

19. The first sidelink-capable device according to claim 11, wherein the one or more processing units are further configured to send the message using a media access control - control element (MAC-CE) or a second stage control format.

20. The first sidelink-capable device according to claim 11, wherein the message comprises a pre-PRS message that conveys information about a subsequent PRS.

21. A device for sidelink positioning determination and communication, Means for obtaining data from one or more data sources, indicating one or more criteria for using either round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of the target node. The RTT-based positioning is associated with distance determination based on a positioning reference signal (PRS) mutually sent between a first sidelink-enabled device and a second sidelink-enabled device, and the SS-based positioning is associated with distance determination based on the PRS sent from the first sidelink-enabled device to the second sidelink-enabled device. The one or more criteria are whether an angle formed by two of a plurality of relative positions over time between the first sidelink-enabled device and the second sidelink-enabled device fails to exhibit an angular change of a threshold amount, whether it is determined that respective speed sensors of the first sidelink-enabled device, the second sidelink-enabled device, or both exhibit a difference greater than a threshold, whether the first sidelink-enabled device, the second sidelink-enabled device, or both have experienced a movement of a threshold amount within a threshold time amount, whether a relative distance between the first sidelink-enabled device and the second sidelink-enabled device has experienced a change less than a change of a threshold amount within a threshold time amount, or whether respective local clock oscillators of the first sidelink-enabled device, the second sidelink-enabled device, or both have been synchronized or initialized within a threshold time amount before positioning of a selected positioning type is to be performed, or any combination thereof comprising means; means for selecting a positioning type from a group consisting of RTT-based positioning and SS-based positioning based on the one or more criteria; means for sending a message from the first sidelink-enabled device to the second sidelink-enabled device, the message including information indicating the selected positioning type comprising a device.

22. The device according to claim 21, wherein the means for sending the message comprises means for sending an intelligent transport system (ITS) message.

23. The device according to claim 21, wherein the first sidelink-enabled device comprises a source node, and the second sidelink-enabled device comprises the target node.

24. The device according to claim 23, further comprising means for sending a positioning reference signal (PRS) from the first sidelink corresponding device according to the selected positioning type.

25. The device according to claim 23, wherein the means for obtaining the data from the one or more data sources comprises means for obtaining information from the target node.

26. The first sidelink corresponding device comprises the target node, The second sidelink corresponding device comprises a source node, the device according to claim 21.

27. The device according to claim 21, wherein the information indicating the selected positioning type included in the message consists of 2 bits within the message.

28. A non-transitory computer-readable recording medium storing instructions for sidelink positioning determination and communication, the instructions being Code for obtaining data from one or more data sources indicating one or more criteria for using either round-trip time (RTT)-based positioning of a target node or single-side (SS)-based positioning of the target node, The RTT-based positioning is associated with distance determination based on a positioning reference signal (PRS) sent mutually between a first sidelink corresponding device and a second sidelink corresponding device, and the SS-based positioning is associated with distance determination based on the PRS sent from the first sidelink corresponding device to the second sidelink corresponding device, The one or more criteria are Whether or not an angle formed by two of a plurality of relative positions over time between the first sidelink corresponding device and the second sidelink corresponding device fails to indicate a threshold amount of angle change, Whether or not it is determined that a respective speed sensor of the first sidelink corresponding device, the second sidelink corresponding device, or both indicates a difference greater than a threshold, Whether or not the first sidelink corresponding device, the second sidelink corresponding device, or both have experienced a threshold amount of movement within a threshold amount of time, Whether or not a relative distance between the first sidelink corresponding device and the second sidelink corresponding device has experienced a change less than a threshold amount of change within a threshold amount of time, or Whether the respective local clock oscillators of the first sidelink-compatible device, the second sidelink-compatible device, or both are synchronized or initialized within a threshold time amount before positioning of the selected positioning type is to be performed, or any combination thereof comprising code and code for selecting a positioning type from the group consisting of RTT-based positioning and SS-based positioning based on the one or more criteria code for sending a message from the first sidelink-compatible device to the second sidelink-compatible device, the message including information indicating the selected positioning type A non-transitory computer-readable recording medium comprising the same

Images